Fill prepared muffin cups three-fourths full. Bake for 23-28 minutes or until a toothpick inserted in muffin comes out clean.

Cool for 5 minutes before removing from pan to a wire rack to cool completely.

For Caramel Icing, in a small saucepan, melt butter over medium heat. Stir in brown sugar, salt and milk; bring to a boil. Cool slightly. Whisk in vanilla and powdered sugar. Transfer to a small resealable plastic bag; cut a small hole in a corner of bag and drizzle over muffins.